auth is a binary built from the ckb-auth project. You may rebuild it by running following commands:

git clone https://github.com/nervosnetwork/ckb-auth.git
cd ckb-auth
git submodule update --init
make all-via-docker
cp build/auth ckb-pcn-scripts/deps

simple_udt is a binary built from the ckb-production-scripts project. You may rebuild it by running following commands:

git clone https://github.com/nervosnetwork/ckb-production-scripts.git
cd ckb-production-scripts
git submodule update --init --recursive
make all-via-docker
cp build/simple_udt ckb-pcn-scripts/deps